CN103857571B - Brakes for the anti-slip regulation of electric drive motor-car - Google Patents
Brakes for the anti-slip regulation of electric drive motor-car Download PDFInfo
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- CN103857571B CN103857571B CN201280047896.8A CN201280047896A CN103857571B CN 103857571 B CN103857571 B CN 103857571B CN 201280047896 A CN201280047896 A CN 201280047896A CN 103857571 B CN103857571 B CN 103857571B
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- 230000033228 biological regulation Effects 0.000 title description 34
- 238000000034 method Methods 0.000 claims abstract description 25
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- 238000010248 power generation Methods 0.000 claims description 21
- 238000009434 installation Methods 0.000 claims description 10
- 230000001133 acceleration Effects 0.000 claims description 9
- 230000001105 regulatory effect Effects 0.000 claims description 7
- 230000000052 comparative effect Effects 0.000 claims description 2
- HYIMSNHJOBLJNT-UHFFFAOYSA-N nifedipine Chemical compound COC(=O)C1=C(C)NC(C)=C(C(=O)OC)C1C1=CC=CC=C1[N+]([O-])=O HYIMSNHJOBLJNT-UHFFFAOYSA-N 0.000 claims 2
- 238000001514 detection method Methods 0.000 claims 1
- 238000011084 recovery Methods 0.000 description 12
- 230000008929 regeneration Effects 0.000 description 12
- 238000011069 regeneration method Methods 0.000 description 12
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- 238000002485 combustion reaction Methods 0.000 description 2
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- 230000007613 environmental effect Effects 0.000 description 1
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- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/24—Electrodynamic brake systems for vehicles in general with additional mechanical or electromagnetic braking
- B60L7/26—Controlling the braking effect
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
- B60L7/18—Controlling the braking effect
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T1/00—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles
- B60T1/02—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels
- B60T1/10—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels by utilising wheel movement for accumulating energy, e.g. driving air compressors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
- B60T13/746—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive and mechanical transmission of the braking action
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/02—Brake-action initiating means for personal initiation
- B60T7/08—Brake-action initiating means for personal initiation hand actuated
- B60T7/10—Disposition of hand control
- B60T7/107—Disposition of hand control with electrical power assistance
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
- B60T8/17551—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve determining control parameters related to vehicle stability used in the regulation, e.g. by calculations involving measured or detected parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
- B60T8/1761—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS responsive to wheel or brake dynamics, e.g. wheel slip, wheel acceleration or rate of change of brake fluid pressure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
- B60T8/1766—Proportioning of brake forces according to vehicle axle loads, e.g. front to rear of vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/60—Regenerative braking
- B60T2270/602—ABS features related thereto
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/60—Regenerative braking
- B60T2270/604—Merging friction therewith; Adjusting their repartition
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/60—Regenerative braking
- B60T2270/613—ESP features related thereto
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Electromagnetism (AREA)
- Fluid Mechanics (AREA)
- Regulating Braking Force (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The present invention relates to a kind of brakes for motor vehicle, the brakes includes：Friction brake on the wheel of at least one bridge, the friction brake are controlled by friction brake control device；At least one motor, the motor are connected with least one wheel and controlled by Vidacare corp control device；For the device of sense deceleration requirement, the especially brake pedal with pedal angle sensor；Vehicle wheel non-slip adjusting means；And Torque distribution device.According to the present invention, the device for sense deceleration requirement is connected with the vehicle wheel non-slip adjusting means, the vehicle wheel non-slip adjusting means requires the predetermined given braking moment for each wheel according to deceleration, wherein, the vehicle wheel non-slip adjusting means is connected with Torque distribution device, the Torque distribution device is connected with the friction brake control device and the Vidacare corp control device and according to the predetermined friction catch requirement to the friction brake control device of the given braking moment and the generator brake requirement to the Vidacare corp control device.Moreover, it relates to a kind of method for controlling brakes.
Description
Technical field
The present invention relates to a kind of brakes according to claim 1 preamble and one kind according to claim 8 preamble
The partial method for being used to provide the braking procedure of anti-slip regulation in the vehicle with least part of electric driver.
Background technology
Completely or partially electrically drivable motor vehicle electric vehicle or is combined with vehicle electric driver and internal combustion in other words
The motor vehicle driven by mixed power of machine is relative to the conventional motor vehicle with internal combustion engine with the discharge reduced.One or more motors are herein
On the one hand motor drive device in other words can be used as in the case of from battery supply feed, also on the other hand be used as generator or
Person says brake.At least a portion of the kinetic energy of vehicle is transformed into electric energy during braking and is stored in battery by this permission
In.
As the motor of generator operation trailing moment and thus accessible deceleration is herein for different reasons
It can be limited：The rotating speed correlation described in characterisitic family of power of motor, the power drop such as especially when rotating speed is low
Cause for example can no longer establish mechanism of power generation kinetic moment when speed is less than 10km/h.The possible charging current of battery can also limit
Make accessible power.Especially it is longer go down the hill traveling in be likely to occur battery fully charged and can no longer carry out regeneration system
It is dynamic.Further it is necessary to avoid the thermal overload of power electric device and/or battery.
As generally in braking procedure, small surface friction coefficient may be such that braking anti-slip regulation necessitates.Depending on
In electric driver depending on the configuration of electric driver and especially on back axle is only acted upon, in order to ensure driving stability
Property and may need limit mechanism of power generation kinetic moment.Especially suitable braking force distribution is required when being braked with high deceleration.
If electric driver is connected by transmission device with wheel, gearratio can also limit accessible deceleration.
Therefore, in order to ensure enough deceleration in any situation, wheel of vehicle additionally must rub equipped with tradition
Wipe brake.Therefore, motor vehicle driven by mixed power and electric vehicle will be total usually using regeneration brake system, the regeneration brake system
Braking moment is in normal brake application process（Interference without riding stability regulating system）In be divided into two parts：One passes through vehicle
The mechanism of power generation kinetic moment and a friction catch torque that electric driver is produced and acted on by power assembly on wheel,
The friction that the kinetic energy of vehicle is served as a contrast by the braking in brake disc is transformed into heat energy in the friction catch torque.Kinetic energy turns
Therefore the part for becoming heat and " loss " and limits the efficiency of recovery in braking procedure by friction, therefore, endeavour
In the share as high as possible of mechanism of power generation kinetic moment, maximize and thus reduce to withdraw the energy in braking procedure
Consumption of the vehicle to primary energy.Exemplary regeneration brake system and corresponding control method exist
Described in DE102011003346A1.
Friction braking system has a variety of electronic-controlled installations, and the electronic-controlled installation is adjusted by riding stability is
System improves driving safety.The exemplary system for being used for riding stability regulation is as known in EP0792228B1.
If brake anti-slip regulation system in full application of brake or in braking on low-friction coefficient（Also serve as known in ABS, i.e.,
Anti-blockiersystem）It must interfere to avoid wheel lock up, then the braking anti-slip regulation system generally only acts on
In braking moment by caused by friction brake on part.This passes through data bus of vehicle mainly due to braking moment
（Such as CAN）It is required that change changed with time constant more than the typical anti-slip regulation cycle.Thus, in driving stability
Property keep suitable braking force distribution in other words in terms of, do not set mechanism of power generation kinetic moment generally also during ABS is adjusted.
A kind of method for adjusting wheel braking skidding rate as known in WO2011/015422A1, for electronic
The vehicle of drive device, wherein, brake signal is detected by means of anti-slip regulation device, and the anti-slip regulation device is in order to adjust
The value of slip of pre-determining and produce Vidacare corp signal and friction catch signal.Vidacare corp signal passes to electronic
Drive device adjusting means, the Vidacare corp adjusting means correspondingly operate Vidacare corp to produce electronic drive
Dynamic device torque, friction catch signal pass to friction catch adjusting means, and the friction catch adjusting means is made according to friction
The friction brake of dynamic signal operation wheel.Preferably at least partly implement motorized motions in Vidacare corp adjusting means
The high dynamic regulation of device torque, wherein, especially detect and analyze and process Vidacare corp rotating speed.By in electric drive
Anti-slip regulation is carried out in the control device of device at least in part, the realization must specially be matched with Current vehicle.
The content of the invention
It is described it is an object of the present invention to provide a kind of brakes and a kind of method for controlling brakes
Brakes and method allow the braking that anti-slip regulation is carried out in the case where not terminating recovery.
The purpose is realized by brakes according to claim 1 and method according to claim 8.
Therefore, the present invention provides a kind of brakes, and for motor vehicle, the brakes includes：At least one bridge
Friction brake on wheel, the friction brake are controlled by friction brake control device；At least one motor, the electricity
Machine be connected with least one wheel and by Vidacare corp control device at least when control as generator；For examining
The device of deceleration requirement is surveyed, in particular for detecting the sensor of brake pedal operation；And vehicle wheel non-slip adjusting means.Root
According to the present invention, the device for sense deceleration requirement is connected with vehicle wheel non-slip adjusting means, the vehicle wheel non-slip adjusting means
The predetermined given braking moment for each wheel is required according to deceleration, wherein, vehicle wheel non-slip adjusting means and torque point
With device connect, the Torque distribution device be connected with friction brake control device and Vidacare corp control device and
Required according to the predetermined friction catch to friction brake control device of given braking moment and Vidacare corp is controlled
The generator brake requirement of device.Refer to signal stream or information flow for title " connection ", i.e., not only can relate to physical connection, example
Such as wire, and it can relate to software interface.
Thus, vehicle wheel non-slip adjusting means is just activated only when excessive wheel-slip rate occur, but in whole rows
Sail all predetermined given braking moment that existing brakes is distributed to by Torque distribution device in situation.This allows anti-herein
Regenerative braking moment is also kept at least in part in the braking procedure of sliding regulation.Thus, energy withdraws and is maximized, wherein, together
When vehicle stability be guaranteed.This means that comfortableness improves for driver, because not produced in deceleration main logical
Fluctuation caused by crossing deactivation generator.
In addition, had the advantage that according to the modular organization of the present invention：When brakes changes, anti-slip regulation device can be protected
Hold constant, and must only match torque distributor.This reduces manufacture for stock's vehicle and is adapted to demand in other words.In addition, system
Resultant couple on one investigation wheel allows to cancel prime mover trailing moment regulating system.
Meet purpose, vehicle wheel non-slip adjusting means is connected with state monitor, and the state monitor is examined with being used for
Survey wheel velocity, the yaw-rate of at least any single wheel（Yaw velocity）Connected with the sensor of transverse acceleration, wherein,
At least try to achieve and the external predetermined given brake force of wheel velocity wheel-slip rate in other words except corresponding wheel
The instantaneous existing braking moment on each wheel is considered during square.For example estimated coefficient of friction of other traveling dynamic parameters also may be used
It is conveyed to vehicle wheel non-slip adjusting means and is paid attention in the predetermined given braking moment.By predetermined described
Consider transport condition during given braking moment, such as before there is excessive slip rate on the back axle by generator brake, such as
The braking force distribution between propons and back axle can be matched.Making the maximized hybrid power manager of recovery, motorized motions fill in other words
Put the adjuster between adjuster and vehicle wheel non-slip regulating system and conflict and be avoided.
Especially meet purpose, brakes, which has, goes back yaw moment adjusting means, the yaw moment adjusting means
It is connected with state monitor and steering angle sensor and by the given yaw-rate tried to achieve at least by steering angle and institute
The yaw-rate of measurement compares, wherein, try to achieve the given braking moment depending on wheel according to comparative result and be conveyed to car
Take turns anti-slip regulation device.Thus, energy withdrawal can also be carried out during traveling dynamic regulation, such as ESC.In addition, brakes（Or
Person says control device）Structure can manage simply and well because substantially the same functional multiple realization is kept away
Exempt from.
It is preferred that Torque distribution device with for sense deceleration requirement device be connected, wherein, friction catch requirement and
Distribution between generator brake requirement is considering the current braking with locked wheels torque of the requirement of front deceleration degree and/or corresponding wheel
And/or carry out in the case of travel speed and/or steering wheel angle and/or transverse acceleration.If such as it is anticipated that critical
Travel conditions, the then optional optimal distribution for predetermined drive device configuration of Torque distribution system.
Advantageously, prime mover control device can be sent out the mechanism of power generation kinetic moment currently applied and/or caused by maximum
Motor braking torque is sent to Torque distribution device and the distribution between friction catch requirement and generator brake requirement exists
It is considering currently to apply and/or can be carried out caused by maximum in the case of mechanism of power generation kinetic moment.Thus, existing Regenerated energy
Power, the possible withdrawal carried out by generator can be best utilized as far as possible.
According to the preferred implementing form of the present invention, the device for sense deceleration requirement also includes arriving vehicle data
The interface of bus, especially pass through the data bus of vehicle with the electronic-controlled installation that one or more environmental sensors are connected
Send deceleration requirement.The structure according to the present invention of vehicle wheel non-slip regulating system is transparent for external demand and provided
The interface neatly determined, such as can pass through the interface by means of the emergency braking auxiliary device of environmentally sensitive device cognitive disorders
It is required that full application of brake.
Meet purpose, friction brake control device, vehicle wheel non-slip adjusting means and Torque distribution device are integrated in
In one electronic-controlled installation and preferably entirely or partly as the program implemented by the computing unit of electronic-controlled installation
Code is realized.Suitably, vehicle wheel non-slip regulation is performed by means of the electronic-controlled installation of friction braking system, the electricity
Sub- control device control hydraulic wheel brake and/or the electromechanical wheel drag based on friction.
In addition, the invention further relates to a kind of method for controlling brakes, the brakes is used for motor vehicle, institute
State the friction brake on the wheel of brakes including at least one bridge and at least one motor, the motor with it is at least one
Wheel connects and generator can be used as to run.The method according to the invention comprises the following steps：
Current running state is tried to achieve by state monitor, wherein, current running state is for any list in wheel
It is at least one current wheel velocity and current skidding rate that individual wheel, which comprises at least current brake torque and two parameters,
The given braking depending on wheel is tried to achieve in the case where considering current running state by means of deceleration requirement
Torque,
Given braking moment is divided into friction catch requirement and generator brake requirement for each wheel,
Actuating friction brake is required according to friction catch and operation motor is required according to generator brake.
By just having been contemplated that transport condition in the predetermined given braking moment, excessive wheel in some cases
The appearance of skidding rate can be avoided in front court.Also generator brake is kept to make the efficiency of recovery during anti-slip regulation
Improve.
Advantageously, generator brake requirement is tried to achieve according to current brake torque, wherein, for what is be connected with generator
Wheel, required by means of giving braking moment and the comparison of generator brake requirement to try to achieve friction catch.Thereby guarantee that vehicle
Constant braking characteristic.
If the first motor is connected with least two wheels, particularly advantageously, to the generator brake of the first motor
It is required that selected as the predetermined share of the minimum current brake torque of the wheel connected.
If at least one wheel is configured with the motor not being connected with other wheels, meet destination by means of with being estimated
The related characteristic curve K (μ) of the friction coefficient μ of meter tries to achieve the generator brake requirement of the motor to being configured, preferably according to
Current brake torque M on constant C and the wheel investigatedRadRelation K (μ) CMRad.By previously for example being tried in traveling
The characteristic curve tried to achieve in testing, optimal distribution are changed during being dropped in traveling with low calculating by control device.
Brief description of the drawings
By dependent claims and to the description below of embodiment other preferred implementing forms are obtained by means of accompanying drawing.Accompanying drawing
In：
Fig. 1 shows the embodiment schematically shown of brake system according to the invention,
Fig. 2 (a) shows the exemplary braking of the vehicle with the braking anti-slip regulation according to prior art, and
Fig. 2 (b) shows to reclaim the exemplary braking of the vehicle of continuation during anti-slip regulation is braked.
Embodiment
Implementation shown in Fig. 1 is illustrated subsystem and subsystem for the regenerative braking with braking anti-slip regulation
Between information exchange.Rectangle is described herein each system functional unit in other words, and connects through arrow table between system
Show, the arrow also describes signal stream and the direction of information flow and shows corresponding parameter by identifier in other words.
Therefore regeneration brake system 1 includes following sub-systems：
Electric driver 2, the electric driver is by the motor control system dress of Vidacare corp control in other words
3 are put to control, to apply mechanism of power generation kinetic moment M on one or more wheelsregOr apply in case an increase of the speed is contemplated
Driving moment, and
Brakes 4 is reclaimed, the recovery brakes includes friction brake and friction catch controller in other words
Friction brake control device 5 and（Also referred to as Torque distribution device）Torque distribution device in other words Torque distribution device 6 with
And anti-skid regulator vehicle wheel non-slip adjusting means 7 in other words is braked, Torque distribution device allows the Torque distribution device in other words
Between regenerative braking and pure friction catch " mediation " in other words preferably infinitely gradual change change, it is described braking anti-skid regulator or
Person says that vehicle wheel non-slip adjusting means adjusts the given braking moment of each wheel and avoids the occurrence of excessive brake slip rate.
In braking procedure, by driver requested total braking force square MBremsDeceleration requires a in other wordsdecel,reqBy making
Dynamic pedal operation is tried to achieve, and its mode is, for example, sensor measurement operation stroke, pedal angle or the pedal applied by driver
Power.Deceleration requirement is used for regenerative braking as input signal, i.e., the device that is required for sense deceleration, in particular for examining
The stroke sensor surveyed on the sensor, such as pedal angle sensor or main braking cylinder of the brake operating of driver is anti-with braking
Sliding adjuster 7 connects.Braking anti-skid regulator 7 is tried to achieve the given braking moment for each wheel by deceleration
MRad,req.When carrying out weak braking on great friction coefficient, deceleration requirement for example can be according to passing through the predetermined braking of vehicle
Power is distributed to change, and in strong braking procedure（Especially with corresponding to the progress full application of brake of the 1g deceleration of acceleration of gravity）
In or when surface friction coefficient is low, in order to be sufficiently accurate it may be desired to the braking moment of each wheel is adjusted, to avoid wheel lock up.
In order to identify that corresponding regulation requires, braking anti-skid regulator 7 needs a variety of traveling dynamical states on vehicle
Information, such as travel speed, current longitudinally and/or laterally acceleration, steering wheel angle, yaw-rate, stability index, each
The locking torque and surface friction coefficient of wheel（In the case of possible on each wheel）.Therefore, vehicle wheel non-slip adjusting means 7 with
State monitor 8 connects, and the state monitor receives the signal of multiple sensors and thus at least calculates current wheel system
Kinetic moment MRad,act.Therefore, in the case of the wheel being connected with electric driver, wheel braking moment is respectively by currently generating electricity
Brake force square Mreg,actWith current friction catch torque Mfric,actComposition.Meet destination, state monitor 8 at least with for
The current wheel velocity v of description of each wheelRadWheel speed sensor, for measuring yaw-rateSensor and be used for
Measure transverse acceleration aLatSensor connection.It can be exported with these information：What braking moment each wheel can at least receive,
And the stability of wheel or vehicle is not compromised.Meanwhile thus can avoid, require than described in turn during anti-slip regulation is braked
The small given braking moment of the braking moment changed.
According to the preferred implementing form of the present invention, state monitor is also considered for travelling dynamic regulator 9, outstanding
It is yaw moment adjuster GMR.In addition, other vehicle regulating systems, such as overturning prevention system（Also serve as active roll-over
System is in other words known in ARP）Or driver assistance system can try to achieve the preset value for braking moment.Different given brake force
Square then meets destination and is conveyed to decision making device, and the decision making device is judged by means of predetermined rule：What brake force
Square preset value is sent to vehicle wheel non-slip regulating system and thus by its conversion.
The given braking moment M tried to achieve by braking anti-skid regulator 7Rad,reqSend the power of also referred to as Torque distribution device to
Thus square distributor 6, the Torque distribution device try to achieve generator brake torque requirement in the case where considering power assembly scheme
Mreg,reqM is required with friction catchfric,req, i.e., total braking force square is correspondingly allocated to electric driver 2 and friction brake.
Electric driver 2 has at least one motor, and the motor applies mechanism of power generation power according to motor controller 3
Square or driving moment.Motor can be a central motor, and the central motor acts on a bridge or whole just the samely
On whole wheels of vehicle, or can be the respective motor of wheel, especially wheel hub motor.Therefore, with motor connection
Driving moment on can produce mechanism of power generation kinetic moment, so as to which the kinetic energy of vehicle is received and is transformed into electric energy.It is in addition, electronic
Machine controller 3 can be by means of the characteristic of motor or battery（The especially horizontal S.O.C of battery）Estimate the generator of maximum possible
Braking moment, i.e. so-called power of regeneration MKap.The mechanism of power generation kinetic moment M currently changedreg,actAnd power of regeneration MKapBy
Motor controller 3 constantly sends recovery brakes 4 to and considered by Torque distribution device 6.
The Torque distribution carried out by Torque distribution device between friction brake and generator is described below in detail.Generator
Brake request MregAnd thus the distribution is related to drive device scheme.
If two or more wheels are connected with single electric driver, the generator brake requirement of each wheel
（Mreg,i）Can be by current wheel braking moment MRad,iExport, thus, the minimum wheel braking moment of the wheel all connected is multiplied by
Such as 0.5 to 0.8 factor K carrys out requirement as mechanism of power generation kinetic moment.
If mechanism of power generation kinetic moment can adjust depending on wheel（Such as in the case of wheel hub motor）, then K*C*
MRadGenerator brake requirement meet purpose, wherein, K=Fkt (μ), wherein, μ considers the friction between wheel and road
Coefficient, C are constants.
It can follow in principle for given braking moment to be divided into generator brake requirement and friction catch requirement（The hair
Motor braking requirement and friction catch requirement are converted into corresponding torque by controlled actuator）Different Strategies.Also may be used
Unified acceleration of investigating requires aaccel,reqAspect, in corresponding wheel MRadAbove and in vehicle MtotalOn resultant couple amount into
The summation of each wheel torque is favourable.Meet purpose herein can be given as middle parameter to try to achieve generator
Braking moment MGenAnd then the given braking moment of the generator is distributed in the case where considering power assembly configuration each
Individual generator.Here, Torque distribution device investigates the power of regeneration M as possible mechanism of power generation kinetic moment summation simultaneouslyKapWith
The generator calculated gives braking moment MGen, so as to power assembly Mreg,reqWith friction braking system Mfric,reqIing is proposed will
Ask.Following relationship is applicable herein：
Mtotal=MReg, req+MFric, reg
MLimit=min (MKap, MGen)
MReg, Req≤MLimit
Corresponding total braking force square is required and friction catch requirement required deceleration by generator brake in other words
Summation obtains.If generator gives braking moment（The generator gives braking moment for example by means of there is currently
Resultant couple is tried to achieve）More than maximum regeneration ability, then generator gives braking moment and accordingly limited.If this is for example being anticipated that
Critical travel conditions in terms of seem significant（Such as to reach optimal braking force distribution）, then generator brake requirement can
Braking moment M is given relative to restricted generatorLimitFurther reduce.
If the motor scheme that vehicle has wheel local in each driving moment carries respective motor in other words（Especially
It is wheel hub motor）Power assembly, then meet purpose, each driving moment investigated individually.Then, to each
Driving moment configures a generator and gives braking moment MGen,i.Total generator gives braking moment MGenIt can be sent out by each wheel
Motor gives braking moment MGen,iComposition：
MGen=∑MGen,i
If vehicle is with only one drive axle or each drive axle with a public electricity for two wheels
Motivation, the then regeneration for the drive axle investigated give braking moment MGen,AMeet destination to pass through with the given braking of smaller regeneration
Torque MGen,iDriving moment be identified below（Here, with l in other words r represent left wheel in other words again wheel）：
MGen, A=2min (MGen, l, MGen, r)
For the vehicle with four-wheel drive device and central motor, it is necessary to be dividually calculated as above for propons first
（Marked with index VA）And back axle（Index HA）Regeneration give braking moment MGen,A。
If center drive has variable Torque distribution, the given braking of total generator between propons and back axle
Torque MGenIt is the summation of the given braking moment of two generators on two bridges：
MGen=MGgn, VA+MGen,HA
If center drive has fixed Torque distribution k between propons and back axle, it is applicable total generator and gives
Customize kinetic moment MGenThe following relationship between braking moment is given with two generators of two bridges：
MGen=min (MGen, VA, MGen, HA/k)+min(k·MGen, VA, MGen, HA)
Thus, in the local scheme of wheel, generator can be used to give braking moment and be directly used in determination mechanism of power generation
It is dynamic to require, and in the scheme with the central motor for being always allocated to a bridge or whole wheels, it is necessary to for propons and/
Or back axle is carried out by bridge minimum decision-making to the mechanism of power generation kinetic moment of each wheel.
By must just be investigated only in Torque distribution drive device configure, exist to braking anti-skid regulator in other words its
The transparent interface of its driving stability sexual function or driver assistance function, other driving stability sexual functions or driver assistance
The functional requirement vehicle deceleration braking moment depending on wheel in other words.The change of drive device configuration only fills to Torque distribution
Put without being had an impact to higher level's function.
The time changing curve of the exemplary braking with braking anti-slip regulation is shown in Fig. 2, wherein, Fig. 2 (a), i.e.
Left column shows the braking according to prior art, and Fig. 2 (b), i.e. right column show the method according to the invention/with according to this hair
The braking that bright brakes is carried out.It is most up to show wheel velocity VRad, and the charged state of battery is shown in the second row
S.O.C..3rd and fourth line show friction catch torque MfricAnd mechanism of power generation kinetic moment Mreg。
In the beginning of past boost phase, the charged state of battery（S.O.C.）Substantially 50%.If as used line 101
Shown recovery is in moment t0Interrupted in other words when entering in ABS regulations, then about 15% return energy of institute's consumed energy
It is small to measure share.The shown here of brake is slowly trampled in the case with the recovery stage of 1.5 seconds.If recovery is being made
Braking moment is given to keep by adjusted generator during dynamic anti-slip regulation, as shown in line 102, then recovered energy
Share brings up to about the 34% of the energy consumed in accelerator.
In addition to energy withdraws and improved, this also has the advantage that：Brake pressure on drive axle is in the braking with recovery
It is more half lower than the situation of non-recovery during anti-slip regulation.If it is obvious that calculate generator brake by reclaiming brakes
It is required that is, electric driver meets a part for regulation task together, then the pressure modulation of friction brake has less width
Degree.In addition, in addition to the comfortableness income realized due to the work of the pedal reaction of very little and hydraulic pump, this also has
Advantage：The skidding amplitude wheel velocity in other words that also diminishes less tempestuously deviates desired characteristic.
It can be existed by wheel hub motor braking anti-slip regulation is carried out in the case that electric driver is included the advantages of
Optimized in terms of regulation scheme.Especially, if wheel hub motor can quick regulation, the strategy may be such that ABS adjusts to obtain
Improve.Motor is in skidding rate introduction volumeIt is high（Such as stepped in Low- μ, i.e. low-friction coefficient
Pedal）In the case of bootable wheel by active drive be similar to prime mover trailing moment regulation compare friction brake like that
Enter more quickly in anti-skidding scope of most preferably slowing down.Here, must suitably it be considered by the ABS vehicle reference speed calculated former dynamic
Machine control signal, to identify the false stabilization sub stage less than wheel, because being connect with reference to the opening speed ratio for calculating explanation wheel
Nearly car speed is slow.
Therefore, by brake system according to the invention, the method according to the invention can examine guarantee in other words, and braking is anti-skidding
Regulation can also be carried out in the vehicle being electrically driven at least in part, and reclaim to terminate completely.Except energy efficiency
Obtain outside improvement, this also make it that comfortableness improves for driver, because the end of recovery is generally perceived as braking
Uncomfortable acceleration during process.The unified investigation of wheel resultant couple simplifies global schema in whole travel conditions.If give
The calculating of customization kinetic moment is also carried out in abnormal condition by braking anti-skid regulator, then by generator and friction
Matchingly being distributed between brake can generally avoid hydraulic pressure from interfering, and the hydraulic pressure interference is risen due to pedal reaction and pump noise
Reduce the effect of comfortableness.
Claims (13)
1. a kind of brakes for motor vehicle, the brakes includes：Friction catch on the wheel of at least one bridge
Device, the friction brake are controlled by friction brake control device (5)；At least one motor, the motor with it is at least one
Wheel connect and by Vidacare corp control device (3) at least when controlled as generator；For sense deceleration
It is required that device；And vehicle wheel non-slip adjusting means (7), it is characterised in that：It is described for sense deceleration requirement device with
Vehicle wheel non-slip adjusting means (7) connection, the vehicle wheel non-slip adjusting means require (a according to decelerationdecel,req) predetermined
Given braking moment (M for each wheelRad,req), wherein, the vehicle wheel non-slip adjusting means (7) and Torque distribution device
(6) connect, the Torque distribution device and the friction brake control device (5) and the Vidacare corp control device
(3) connect and according to the given braking moment (MRad,req) predetermined the friction brake control device (5) is rubbed
Wipe brake request (Mfric,req) and (M is required to the generator brake of the Vidacare corp control device (3)reg,req),
Wherein, the generator brake requirement is tried to achieve according to current brake torque, wherein, for the car being connected with generator
Wheel, the friction catch requirement, institute are tried to achieve by means of the comparison of the given braking moment and generator brake requirement
State vehicle wheel non-slip adjusting means (7) to be connected with state monitor (8), the state monitor is at least any single with being used to detect
Wheel velocity (the v of wheelRad), yaw-rateWith transverse acceleration (aLat) sensor connection, wherein, at least try to achieve simultaneously
And in the predetermined given braking moment (MRad,req) when consider instantaneous existing braking moment on each wheel
(MRad,act),
Wherein the first motor is connected with least two wheels；Require selection to be connected the generator brake of first motor
Wheel minimum current brake torque predetermined share；Or
At least one wheel is configured with the motor not being connected with other wheels；By means of related to estimated friction coefficient μ
Characteristic curve K (μ) tries to achieve the generator brake requirement of the motor to being configured.
2. brakes according to claim 1, it is characterised in that：It is provided with yaw moment adjusting means (9), the horizontal stroke
Pendulum moment regulating device is connected with the state monitor (8) and steering angle sensor and will be at least by steering angle
The given yaw-rate tried to achieve compares with measured yaw-rate, wherein, tried to achieve according to comparative result given depending on wheel
Braking moment (MRad,req) and be conveyed to the vehicle wheel non-slip adjusting means (7).
3. brakes according to claim 1 or 2, it is characterised in that：The Torque distribution device (6) is used for described
The device connection of sense deceleration requirement, and require (M in friction catchfric,req) and generator brake requirement (Mreg,req) it
Between distribution consider front deceleration degree require (adecel,req) and/or wheel current braking with locked wheels torque and/or travel speed
And/or steering wheel angle and/or transverse acceleration (aLat) in the case of come carry out.
4. brakes according to claim 1 or 2, it is characterised in that：The Vidacare corp control device (3) will
Mechanism of power generation kinetic moment (the M currently appliedreg,act) and/or can mechanism of power generation kinetic moment (M caused by maximumkap) it is sent to institute
Torque distribution device (6) is stated, and the distribution between friction catch requirement and generator brake requirement is considering current apply
Mechanism of power generation kinetic moment and/or can be carried out caused by maximum in the case of mechanism of power generation kinetic moment.
5. brakes according to claim 1 or 2, it is characterised in that：The device for sense deceleration requirement
Also include the interface being connected with data bus of vehicle, electronic-controlled installation sends deceleration by the data bus of vehicle will
Ask.
6. brakes according to claim 1 or 2, it is characterised in that：The friction brake control device (5), institute
State vehicle wheel non-slip adjusting means (7) and the Torque distribution device (6) is integrated in an electronic-controlled installation.
7. brakes according to claim 1, it is characterised in that：The device for sense deceleration requirement is to use
In the sensor of detection brake pedal operation.
8. brakes according to claim 1, it is characterised in that：By means of basis and constant C and the wheel investigated
On current brake torque MRadRelation K (μ) CMRadTry to achieve the generator brake requirement of the motor to being configured.
9. brakes according to claim 5, it is characterised in that：The electronic-controlled installation and one or more environment
Sensor connects.
10. brakes according to claim 6, it is characterised in that：It is the friction brake control device (5), described
Vehicle wheel non-slip adjusting means (7) and the Torque distribution device (6) are completely or partially used as by the electronic-controlled installation
The program code implemented of computing unit realize.
11. a kind of method for being used to control the brakes for motor vehicle, the brakes include the car of at least one bridge
Friction brake and at least one motor on wheel, the motor are connected with least one wheel and generator can be used as to transport
OK, methods described comprises the following steps：
Current running state is tried to achieve by state monitor, wherein, the current running state is for any list in wheel
It is at least one current wheel velocity and current skidding rate that individual wheel, which comprises at least current brake torque and two parameters,
The given braking depending on wheel is tried to achieve in the case where considering the current running state by means of deceleration requirement
Torque,
The given braking moment is divided into friction catch requirement and generator brake requirement for each wheel,
Require to operate the friction brake according to the friction catch and operation institute is required according to the generator brake
State motor,
Wherein, the generator brake requirement is tried to achieve according to the current brake torque, wherein, for what is be connected with generator
Wheel, the friction catch requirement is tried to achieve by means of the comparison of the given braking moment and generator brake requirement,
Wherein the first motor is connected with least two wheels；Require selection to be connected the generator brake of first motor
Wheel minimum current brake torque predetermined share；Or
At least one wheel is configured with the motor not being connected with other wheels；By means of related to estimated friction coefficient μ
Characteristic curve K (μ) tries to achieve the generator brake requirement of the motor to being configured.
12. the method according to claim 11 for being used to control the brakes for motor vehicle, it is characterised in that：By
In basis and the current brake torque M on constant C and the wheel investigatedRadRelation K (μ) CMRadTry to achieve to being configured
Motor generator brake requirement.
13. the method according to claim 11 for being used to control the brakes for motor vehicle, it is characterised in that：It is described
The brakes for motor vehicle be brakes according to any one of claim 1-6.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102011083650.0 | 2011-09-28 | ||
| DE102011083650 | 2011-09-28 | ||
| PCT/EP2012/069137 WO2013045584A1 (en) | 2011-09-28 | 2012-09-27 | Slip-controlled braking system for electrically driven motor vehicles |
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| Publication Number | Publication Date |
|---|---|
| CN103857571A CN103857571A (en) | 2014-06-11 |
| CN103857571B true CN103857571B (en) | 2017-11-21 |
Family
ID=47010545
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201280047896.8A Active CN103857571B (en) | 2011-09-28 | 2012-09-27 | Brakes for the anti-slip regulation of electric drive motor-car |
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| Country | Link |
|---|---|
| US (1) | US9744862B2 (en) |
| EP (1) | EP2760714B1 (en) |
| KR (1) | KR20140069280A (en) |
| CN (1) | CN103857571B (en) |
| DE (1) | DE102012217679A1 (en) |
| WO (1) | WO2013045584A1 (en) |
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- 2012-09-27 US US14/346,983 patent/US9744862B2/en active Active
- 2012-09-27 KR KR1020147011223A patent/KR20140069280A/en not_active Application Discontinuation
- 2012-09-27 EP EP12770452.6A patent/EP2760714B1/en active Active
- 2012-09-27 WO PCT/EP2012/069137 patent/WO2013045584A1/en active Application Filing
- 2012-09-27 DE DE102012217679A patent/DE102012217679A1/en not_active Withdrawn
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2013045584A1 (en) | 2013-04-04 |
| KR20140069280A (en) | 2014-06-09 |
| EP2760714A1 (en) | 2014-08-06 |
| US9744862B2 (en) | 2017-08-29 |
| US20140257664A1 (en) | 2014-09-11 |
| DE102012217679A1 (en) | 2013-04-11 |
| EP2760714B1 (en) | 2019-03-20 |
| CN103857571A (en) | 2014-06-11 |
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